Diffusion Particle Filtering on the Special Orthogonal Group Using Lie Algebra Statistics

In this letter, we introduce new distributed diffusion algorithms to track a sequence of hidden random matrices that evolve on the special orthogonal group. The algorithms are based on the Adapt-then-Combine and the Random Exchange methods, and diffuse Gaussian approximations of posterior densities computed in the Lie algebra of the special orthogonal group. Simulation results show that, in scenarios with nonlinear observation functions, the proposed algorithms perform closely to the centralized particle filter estimator and can outperform competing Extended Kalman Filters.